(define (problem make_cofee)
    (:domain neuhelium_coffee)
    (:objects
        anywhere - location
        neuhelium_cabin - location
        service_table_1 - location
        indoor - location
        outdoor - location

        w3_1 - delivery_robot

        jaka - robotic_arm
        kinova - robotic_arm
        neuhelium_coffee_machine - coffee_machine

        coffee_order_1 - coffee_order
        
        coffee_1 - coffee

        door_1 - door

        )
    (:init

        (device_available)
        (arm_empty jaka)
        (arm_empty kinova)
        (at_location w3_1 anywhere)

        (connected anywhere neuhelium_cabin)
        (connected neuhelium_cabin indoor)
        (connected outdoor service_table_1)
        (at_door door_1 indoor outdoor)
        (can_open door_1)


        (able_to_get_from_dropper jaka)
        (able_to_get_from_platform kinova)
        (able_place_in_delivery_robot kinova w3_1)

        (coffee_at  coffee_1 neuhelium_cabin)
    )

    (:goal
        (and
            (order_obtained coffee_order_1)
            (coffee_in_delivery_robot coffee_1 w3_1)
            (coffee_at coffee_1 service_table_1)
        )
    )
)